利用laspy读取写入las文件

首先要了解las数据格式的基本构成，其次利用开源库计算，laspy提供了两种方式

读取las文件

import laspy
import numpy as np
#参考链接：
# 用Matlab处理LAS点云（1）——LAS文件概述--知乎
# https://pythonhosted.org/laspy/tut_part_1.html
# https://laspy.readthedocs.io/en/latest/examples.html
# 按间距中的绿色按钮以运行脚本。
"""
Laspy can actually scale the x, y, and z dimensions for you. 
Upper case dimensions (las_file.X, las_file.Y, las_file.Z) give the raw integer dimensions, 
while lower case dimensions (las_file.x, las_file.y, las_file.z) give the scaled value. 
Both methods support assignment as well, 
although due to rounding error assignment using the scaled dimensions is not recommended.
利用laspy读取点云数据有两种方式：
1利用公式：实际坐标 = 采集值×比例因子+偏移值
每个las文件只有一个比例因子和一个偏移值，位于文件头中，每个点都对应一个采集值，位于点云数据块中
其中las.X,las.Y,las.Z,为采集值（整数），las.header.scales为xyz的比例因子（double),
las.header.offsets为xyz的偏移量（double),
真实坐标=las.XYZ*las.header.scales+las.header.offsets
2直接利用las.x(小写x)，las.y,las.z，其分别储存实际的点云xyz坐标，均为一维数组，
再利用np.vstack((las.x, las.y, las.z)).transpose()，转为三维矩阵
综上：las.xyz=真实坐标=las.XYZ*las.header.scales+las.header.offsets
"""
if __name__ == '__main__':
    las = laspy.read('D:/265079.00-265112.00.las')
    print(las.header.point_count)
    #方法1
    # 获取第100点的采集坐标
    x_dimension = las.X[99]
    y_dimension = las.Y[99]
    z_dimension = las.Z[99]

    scale = las.header.scales
    offset = las.header.offsets
    # 计算真实xyz坐标
    scaled_xyz = [0, 0, 0]
    scaled_xyz[0] = (x_dimension * scale[0]) + offset[0]
    scaled_xyz[1] = (y_dimension * scale[1]) + offset[1]
    scaled_xyz[2] = (z_dimension * scale[2]) + offset[2]
    # 方法2
    coords = np.vstack((las.x, las.y, las.z)).transpose()

    one_hundred_point = coords[99, :]
    # 打印两种方法的点
    print(one_hundred_point.tolist())
    print(scaled_xyz)

结果：

写文件：

import laspy
import numpy as np

# 0. Creating some dummy data
my_data_xx, my_data_yy = np.meshgrid(np.linspace(-20, 20, 15), np.linspace(-20, 20, 15))
my_data_zz = my_data_xx ** 2 + 0.25 * my_data_yy ** 2
my_data = np.hstack((my_data_xx.reshape((-1, 1)), my_data_yy.reshape((-1, 1)), my_data_zz.reshape((-1, 1))))

# 1. Create a new header
header = laspy.LasHeader(point_format=3, version="1.2")
header.add_extra_dim(laspy.ExtraBytesParams(name="random", type=np.int32))
header.offsets = np.min(my_data, axis=0)
header.scales = np.array([0.1, 0.1, 0.1])

# 2. Create a Las
las = laspy.LasData(header)

las.x = my_data[:, 0]
las.y = my_data[:, 1]
las.z = my_data[:, 2]
las.random = np.random.randint(-1503, 6546, len(las.points), np.int32)

las.write("new_file.las")